crocoddyl  1.5.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
fwd.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_FWD_HPP_
10 #define CROCODDYL_MULTIBODY_FWD_HPP_
11 
12 namespace crocoddyl {
13 
14 // actuation
15 template <typename Scalar>
16 class ActuationModelFloatingBaseTpl;
17 
18 template <typename Scalar>
19 class ActuationModelFullTpl;
20 
21 template <typename Scalar>
22 class ActuationModelMultiCopterBaseTpl;
23 
24 // contact
25 template <typename Scalar>
26 class ContactModelAbstractTpl;
27 template <typename Scalar>
28 struct ContactDataAbstractTpl;
29 
30 // action
31 template <typename Scalar>
32 class ActionModelImpulseFwdDynamicsTpl;
33 template <typename Scalar>
34 struct ActionDataImpulseFwdDynamicsTpl;
35 
36 // differential action
37 template <typename Scalar>
38 class DifferentialActionModelFreeFwdDynamicsTpl;
39 template <typename Scalar>
40 struct DifferentialActionDataFreeFwdDynamicsTpl;
41 
42 template <typename Scalar>
43 class DifferentialActionModelContactFwdDynamicsTpl;
44 template <typename Scalar>
45 struct DifferentialActionDataContactFwdDynamicsTpl;
46 
47 // numdiff
48 template <typename Scalar>
50 template <typename Scalar>
52 
53 template <typename Scalar>
55 template <typename Scalar>
57 
58 // frame
59 template <typename Scalar>
60 struct FrameTranslationTpl;
61 
62 template <typename Scalar>
63 struct FrameRotationTpl;
64 
65 template <typename Scalar>
66 struct FramePlacementTpl;
67 
68 template <typename Scalar>
69 struct FrameMotionTpl;
70 
71 template <typename Scalar>
72 struct FrameForceTpl;
73 
74 template <typename Scalar>
76 
77 template <typename Scalar>
78 struct FrameWrenchConeTpl;
79 
80 template <typename Scalar>
81 struct FrameCoPSupportTpl;
82 
83 // cost
84 template <typename Scalar>
86 template <typename Scalar>
87 struct CostDataAbstractTpl;
88 
89 template <typename Scalar>
91 template <typename Scalar>
93 
94 template <typename Scalar>
95 struct CostItemTpl;
96 template <typename Scalar>
97 class CostModelSumTpl;
98 template <typename Scalar>
99 struct CostDataSumTpl;
100 
101 template <typename Scalar>
103 template <typename Scalar>
105 
106 template <typename Scalar>
108 template <typename Scalar>
110 
111 template <typename Scalar>
113 template <typename Scalar>
115 
116 template <typename Scalar>
118 template <typename Scalar>
119 struct CostDataImpulseCoMTpl;
120 
121 template <typename Scalar>
122 class CostModelStateTpl;
123 template <typename Scalar>
124 struct CostDataStateTpl;
125 
126 template <typename Scalar>
128 template <typename Scalar>
130 
131 template <typename Scalar>
133 template <typename Scalar>
135 
136 template <typename Scalar>
138 template <typename Scalar>
140 
141 template <typename Scalar>
143 template <typename Scalar>
145 
146 template <typename Scalar>
148 template <typename Scalar>
150 
151 template <typename Scalar>
152 class CostModelControlTpl;
153 
154 template <typename Scalar>
156 template <typename Scalar>
158 
159 template <typename Scalar>
161 template <typename Scalar>
163 
164 template <typename Scalar>
166 template <typename Scalar>
168 
169 template <typename Scalar>
171 template <typename Scalar>
173 
174 template <typename Scalar>
176 template <typename Scalar>
178 
179 // impulse
180 template <typename Scalar>
182 template <typename Scalar>
184 
185 // contact
186 template <typename Scalar>
187 struct ContactItemTpl;
188 template <typename Scalar>
190 template <typename Scalar>
192 
193 template <typename Scalar>
194 class ContactModel2DTpl;
195 template <typename Scalar>
196 struct ContactData2DTpl;
197 
198 template <typename Scalar>
199 class ContactModel3DTpl;
200 template <typename Scalar>
201 struct ContactData3DTpl;
202 
203 template <typename Scalar>
204 class ContactModel6DTpl;
205 template <typename Scalar>
206 struct ContactData6DTpl;
207 
208 // friction
209 template <typename Scalar>
210 class FrictionConeTpl;
211 template <typename Scalar>
213 
214 // state
215 template <typename Scalar>
217 
218 // data collector
219 template <typename Scalar>
221 
222 template <typename Scalar>
224 
225 template <typename Scalar>
227 
228 template <typename Scalar>
230 
231 template <typename Scalar>
233 
234 template <typename Scalar>
236 
237 template <typename Scalar>
239 
240 // impulse
241 template <typename Scalar>
243 template <typename Scalar>
245 
246 template <typename Scalar>
248 template <typename Scalar>
250 
251 template <typename Scalar>
253 template <typename Scalar>
255 template <typename Scalar>
257 
258 /*******************************Template Instantiation**************************/
259 
263 
266 
269 
274 
279 
282 
291 
329 
331 
334 
335 enum ContactType { Contact2D, Contact3D, Contact6D, ContactUndefined };
336 enum ImpulseType { Impulse3D, Impulse6D, ImpulseUndefined };
337 
338 typedef ContactItemTpl<double> ContactItem;
339 typedef ContactModelMultipleTpl<double> ContactModelMultiple;
340 typedef ContactDataMultipleTpl<double> ContactDataMultiple;
341 typedef ContactModel2DTpl<double> ContactModel2D;
342 typedef ContactData2DTpl<double> ContactData2D;
343 typedef ContactModel3DTpl<double> ContactModel3D;
344 typedef ContactData3DTpl<double> ContactData3D;
345 typedef ContactModel6DTpl<double> ContactModel6D;
346 typedef ContactData6DTpl<double> ContactData6D;
347 
348 typedef StateMultibodyTpl<double> StateMultibody;
349 
350 typedef DataCollectorMultibodyTpl<double> DataCollectorMultibody;
351 typedef DataCollectorActMultibodyTpl<double> DataCollectorActMultibody;
352 typedef DataCollectorContactTpl<double> DataCollectorContact;
353 typedef DataCollectorMultibodyInContactTpl<double> DataCollectorMultibodyInContact;
354 typedef DataCollectorActMultibodyInContactTpl<double> DataCollectorActMultibodyInContact;
355 typedef DataCollectorImpulseTpl<double> DataCollectorImpulse;
356 typedef DataCollectorMultibodyInImpulseTpl<double> DataCollectorMultibodyInImpulse;
357 
358 typedef ImpulseModel6DTpl<double> ImpulseModel6D;
359 typedef ImpulseData6DTpl<double> ImpulseData6D;
360 typedef ImpulseModel3DTpl<double> ImpulseModel3D;
361 typedef ImpulseData3DTpl<double> ImpulseData3D;
362 typedef ImpulseItemTpl<double> ImpulseItem;
363 typedef ImpulseModelMultipleTpl<double> ImpulseModelMultiple;
364 typedef ImpulseDataMultipleTpl<double> ImpulseDataMultiple;
365 
366 } // namespace crocoddyl
367 
368 #endif // CROCODDYL_MULTIBODY_FWD_HPP_
crocoddyl::CostDataFramePlacementTpl
Definition: frame-placement.hpp:73
crocoddyl::CostDataContactImpulseTpl
Definition: contact-impulse.hpp:163
crocoddyl::CostModelContactFrictionConeTpl
Definition: contact-friction-cone.hpp:26
crocoddyl::ActionModelImpulseFwdDynamicsTpl
Definition: impulse-fwddyn.hpp:34
crocoddyl::ImpulseDataAbstractTpl
Definition: fwd.hpp:183
crocoddyl::CostModelNumDiffTpl
Definition: fwd.hpp:49
crocoddyl::DataCollectorImpulseTpl
Definition: impulses.hpp:21
crocoddyl::CostDataFrameTranslationTpl
Definition: frame-translation.hpp:73
crocoddyl::FrameCoPSupportTpl
Definition: frames.hpp:178
crocoddyl::CostModelFramePlacementTpl
Definition: frame-placement.hpp:22
crocoddyl::CostModelControlTpl
Definition: control.hpp:19
crocoddyl::CostDataSumTpl
Definition: cost-sum.hpp:98
crocoddyl::DifferentialActionDataContactFwdDynamicsTpl
Definition: contact-fwddyn.hpp:90
crocoddyl::CostModelStateTpl
Definition: state.hpp:20
crocoddyl::CostModelAbstractTpl
Definition: cost-base.hpp:25
crocoddyl::ContactModelNumDiffTpl
Definition: fwd.hpp:54
crocoddyl::CostDataImpulseWrenchConeTpl
Definition: impulse-wrench-cone.hpp:71
crocoddyl::CostModelFrameRotationTpl
Definition: frame-rotation.hpp:22
crocoddyl::CostDataCoMPositionTpl
Definition: com-position.hpp:70
crocoddyl::DataCollectorContactTpl
Definition: contacts.hpp:21
crocoddyl::CostModelSumTpl
Definition: cost-sum.hpp:41
crocoddyl::ImpulseModel3DTpl
Definition: fwd.hpp:247
crocoddyl::CostDataImpulseFrictionConeTpl
Definition: impulse-friction-cone.hpp:75
crocoddyl::ActuationModelMultiCopterBaseTpl
Definition: multicopter-base.hpp:29
crocoddyl::CostModelFrameTranslationTpl
Definition: frame-translation.hpp:23
crocoddyl::CostDataNumDiffTpl
Definition: fwd.hpp:51
crocoddyl::FrameTranslationTpl
Definition: frames.hpp:28
crocoddyl::ContactData2DTpl
Definition: contact-2d.hpp:66
crocoddyl::ContactItemTpl
Definition: multiple-contacts.hpp:23
crocoddyl::ContactModelAbstractTpl
Definition: contact-base.hpp:23
crocoddyl::ContactModel2DTpl
Definition: contact-2d.hpp:25
crocoddyl::CostModelContactImpulseTpl
Define a contact impulse cost function.
Definition: contact-impulse.hpp:45
crocoddyl::CostDataImpulseCoMTpl
Definition: impulse-com.hpp:58
crocoddyl::CostModelContactForceTpl
Define a contact force cost function.
Definition: contact-force.hpp:45
crocoddyl::ImpulseDataMultipleTpl
Define the multi-impulse data.
Definition: fwd.hpp:256
crocoddyl::FrameRotationTpl
Definition: frames.hpp:49
crocoddyl::ImpulseModelMultipleTpl
Define a stack of impulse models.
Definition: fwd.hpp:254
crocoddyl::CostItemTpl
Definition: cost-sum.hpp:23
crocoddyl::FramePlacementTpl
Definition: frames.hpp:68
crocoddyl::CostModelImpulseCoPPositionTpl
Definition: impulse-cop-position.hpp:26
crocoddyl::CostDataContactCoPPositionTpl
Definition: contact-cop-position.hpp:176
crocoddyl::ContactData6DTpl
Definition: contact-6d.hpp:63
crocoddyl::ImpulseData6DTpl
Definition: fwd.hpp:244
crocoddyl::DifferentialActionModelContactFwdDynamicsTpl
Definition: contact-fwddyn.hpp:25
crocoddyl::DataCollectorMultibodyInImpulseTpl
Definition: impulses.hpp:32
crocoddyl::CostModelFrameVelocityTpl
Definition: frame-velocity.hpp:22
crocoddyl::StateMultibodyTpl
Definition: fwd.hpp:216
crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl
Definition: free-fwddyn.hpp:29
crocoddyl::CostModelImpulseWrenchConeTpl
Definition: impulse-wrench-cone.hpp:25
crocoddyl::ActionDataImpulseFwdDynamicsTpl
Definition: impulse-fwddyn.hpp:95
crocoddyl::CostModelCoMPositionTpl
Definition: com-position.hpp:21
crocoddyl::FrictionConeTpl
Definition: friction-cone.hpp:18
crocoddyl::ContactDataAbstractTpl
Definition: contact-base.hpp:60
crocoddyl::CostDataStateTpl
Definition: state.hpp:71
crocoddyl::ContactDataMultipleTpl
Define the multi-contact data.
Definition: multiple-contacts.hpp:228
crocoddyl::WrenchConeTpl
This class encapsulates a wrench cone.
Definition: fwd.hpp:212
crocoddyl::CostDataFrameRotationTpl
Definition: frame-rotation.hpp:72
crocoddyl::ContactDataNumDiffTpl
Definition: fwd.hpp:56
crocoddyl::CostModelImpulseFrictionConeTpl
Definition: impulse-friction-cone.hpp:26
crocoddyl::DataCollectorMultibodyInContactTpl
Definition: contacts.hpp:32
crocoddyl::CostDataAbstractTpl
Definition: cost-base.hpp:76
crocoddyl::CostDataImpulseCoPPositionTpl
Definition: impulse-cop-position.hpp:77
crocoddyl::DifferentialActionDataFreeFwdDynamicsTpl
Definition: free-fwddyn.hpp:84
crocoddyl::CostModelContactCoPPositionTpl
Define a center of pressure cost function.
Definition: contact-cop-position.hpp:46
crocoddyl::CostModelCentroidalMomentumTpl
Definition: centroidal-momentum.hpp:21
crocoddyl::CostDataContactForceTpl
Definition: contact-force.hpp:197
crocoddyl::CostDataContactWrenchConeTpl
Definition: contact-wrench-cone.hpp:76
crocoddyl::CostDataContactFrictionConeTpl
Definition: contact-friction-cone.hpp:78
crocoddyl::ActuationModelFullTpl
Definition: full.hpp:19
crocoddyl::ImpulseItemTpl
Definition: fwd.hpp:252
crocoddyl::ImpulseData3DTpl
Definition: fwd.hpp:249
crocoddyl::CostModelContactWrenchConeTpl
Definition: contact-wrench-cone.hpp:25
crocoddyl::CostDataFrameVelocityTpl
Definition: frame-velocity.hpp:71
crocoddyl::ImpulseModel6DTpl
Definition: fwd.hpp:242
crocoddyl::ActuationModelFloatingBaseTpl
Definition: floating-base.hpp:19
crocoddyl::CostDataCentroidalMomentumTpl
Definition: centroidal-momentum.hpp:71
crocoddyl::CostModelImpulseCoMTpl
Definition: impulse-com.hpp:22
crocoddyl::FrameFrictionConeTpl
Definition: frames.hpp:140
crocoddyl::ContactData3DTpl
Definition: contact-3d.hpp:66
crocoddyl::FrameForceTpl
Definition: frames.hpp:121
crocoddyl::ContactModel3DTpl
Definition: contact-3d.hpp:25
crocoddyl::ContactModelMultipleTpl
Define a stack of contact models.
Definition: multiple-contacts.hpp:46
crocoddyl::FrameMotionTpl
Definition: frames.hpp:87
crocoddyl::DataCollectorActMultibodyTpl
Definition: multibody.hpp:31
crocoddyl::FrameWrenchConeTpl
Definition: frames.hpp:159
crocoddyl::DataCollectorMultibodyTpl
Definition: multibody.hpp:21
crocoddyl::DataCollectorActMultibodyInContactTpl
Definition: contacts.hpp:42
crocoddyl::ImpulseModelAbstractTpl
Definition: fwd.hpp:181
crocoddyl::ContactModel6DTpl
Definition: contact-6d.hpp:22